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* Author: TKruse
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#include <base_local_planner/odometry_helper_ros.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2/convert.h>

namespace base_local_planner
{

OdometryHelperRos::OdometryHelperRos(std::string odom_topic) { setOdomTopic(odom_topic); }

// 如果里程计的默认话题名字和实际不一致，用实际里程计话题名，并订阅里程计信息
void OdometryHelperRos::setOdomTopic(std::string odom_topic)
{
    if (odom_topic != odom_topic_)
    {
        odom_topic_ = odom_topic;
        if (!odom_topic_.empty())
        {
            ros::NodeHandle gn;
            odom_sub_ = gn.subscribe<nav_msgs::Odometry>(odom_topic_, 1, [this](auto &msg) { odomCallback(msg); });
        }
        else odom_sub_.shutdown();
    }
}

void OdometryHelperRos::odomCallback(const nav_msgs::Odometry::ConstPtr &msg)
{
    ROS_INFO_ONCE("odom received!");
    //we assume that the odometry is published in the frame of the base
    boost::mutex::scoped_lock lock(odom_mutex_);
    base_odom_.twist.twist.linear.x = msg->twist.twist.linear.x;
    base_odom_.twist.twist.linear.y = msg->twist.twist.linear.y;
    base_odom_.twist.twist.angular.z = msg->twist.twist.angular.z;
    base_odom_.child_frame_id = msg->child_frame_id;
//  ROS_DEBUG_NAMED("dwa_local_planner", "In the odometry callback with velocity values: (%.2f, %.2f, %.2f)",
//      base_odom_.twist.twist.linear.x, base_odom_.twist.twist.linear.y, base_odom_.twist.twist.angular.z);
}

//copy over the odometry information
void OdometryHelperRos::getOdom(nav_msgs::Odometry &base_odom)
{
    boost::mutex::scoped_lock lock(odom_mutex_);
    base_odom = base_odom_;
}

// 获得机器人速度
void OdometryHelperRos::getRobotVel(geometry_msgs::PoseStamped &robot_vel)
{
    // Set current velocities from odometry 从里程计得到当前速度
    geometry_msgs::Twist global_vel;
    {
        boost::mutex::scoped_lock lock(odom_mutex_);
        global_vel.linear.x = base_odom_.twist.twist.linear.x;
        global_vel.linear.y = base_odom_.twist.twist.linear.y;
        global_vel.angular.z = base_odom_.twist.twist.angular.z;
        robot_vel.header.frame_id = base_odom_.child_frame_id;
    }
    robot_vel.pose.position.x = global_vel.linear.x;
    robot_vel.pose.position.y = global_vel.linear.y;
    robot_vel.pose.position.z = 0;
    tf2::Quaternion q;
    q.setRPY(0, 0, global_vel.angular.z);
    tf2::convert(q, robot_vel.pose.orientation);
    robot_vel.header.stamp = ros::Time();
}


} /* namespace base_local_planner */
